content: /*
   * Copyright 2016 Google Inc. All Rights Reserved.
   *
   * Licensed under the Apache License, Version 2.0 (the "License");
   * you may not use this file except in compliance with the License.
   * You may obtain a copy of the License at
   *
   *      http://www.apache.org/licenses/LICENSE-2.0
   *
   * Unless required by applicable law or agreed to in writing, software
   * distributed under the License is distributed on an "AS IS" BASIS,
   * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   * See the License for the specific language governing permissions and
   * limitations under the License.
   * 
   * Copied for convenience from https://github.com/googlesamples/tango-examples-c/blob/master/cpp_example_util/app/src/main/java/com/projecttango/examples/cpp/util/TangoInitializationHelper.java
   */
  
  package com.introlab.rtabmap;
  
  import android.content.Context;
  import android.content.Intent;
  import android.content.ServiceConnection;
  import android.os.Build;
  import android.os.IBinder;
  import android.util.Log;
  
  import java.io.File;
  
  /**
   * Functions for simplifying the process of initializing TangoService, and function
   * handles loading correct libtango_client_api.so.
   */
  public class TangoInitializationHelper {
    public static final int ARCH_ERROR = -2;
    public static final int ARCH_FALLBACK = -1;
    public static final int ARCH_DEFAULT = 0;
    public static final int ARCH_ARM64 = 1;
    public static final int ARCH_ARM32 = 2;
    public static final int ARCH_X86_64 = 3;
    public static final int ARCH_X86 = 4;
  
    /**
     * Only for apps using the C API:
     * Initializes the underlying TangoService for native apps.
     *
     * @return returns false if the device doesn't have the Tango running as Android Service.
     *     Otherwise ture.
     */
    public static final boolean bindTangoService(final Context context,
                                                 ServiceConnection connection) {
      Intent intent = new Intent();
      intent.setClassName("com.google.tango", "com.google.atap.tango.TangoService");
  
      boolean hasJavaService = (context.getPackageManager().resolveService(intent, 0) != null);
  
      // User doesn't have the latest packagename for TangoCore, fallback to the previous name.
      if (!hasJavaService) {
        intent = new Intent();
        intent.setClassName("com.projecttango.tango", "com.google.atap.tango.TangoService");
        hasJavaService = (context.getPackageManager().resolveService(intent, 0) != null);
      }
  
      // User doesn't have a Java-fied TangoCore at all; fallback to the deprecated approach
      // of doing nothing and letting the native side auto-init to the system-service version
      // of Tango.
      if (!hasJavaService) {
        return false;
      }
  
      return context.bindService(intent, connection, Context.BIND_AUTO_CREATE);
    }
  
      
    /**
     * Load the libtango_client_api.so library based on different Tango device setup.
     *
     * @return returns the loaded architecture id.
     */
    public static final int loadTangoSharedLibrary() {
      int loadedSoId = ARCH_ERROR;
      String basePath = "/data/data/com.google.tango/libfiles/";
      if (!(new File(basePath).exists())) {
        basePath = "/data/data/com.projecttango.tango/libfiles/";
      }
      Log.i("TangoInitializationHelper", "basePath: " + basePath);
  
      try {
        System.load(basePath + "arm64-v8a/libtango_client_api.so");
        loadedSoId = ARCH_ARM64;
        Log.i("TangoInitializationHelper", "Success! Using arm64-v8a/libtango_client_api.");
      } catch (UnsatisfiedLinkError e) {
      }
      if (loadedSoId < ARCH_DEFAULT) {
        try {
          System.load(basePath + "armeabi-v7a/libtango_client_api.so");
          loadedSoId = ARCH_ARM32;
          Log.i("TangoInitializationHelper", "Success! Using armeabi-v7a/libtango_client_api.");
        } catch (UnsatisfiedLinkError e) {
        }
      }
      if (loadedSoId < ARCH_DEFAULT) {
        try {
          System.load(basePath + "x86_64/libtango_client_api.so");
          loadedSoId = ARCH_X86_64;
          Log.i("TangoInitializationHelper", "Success! Using x86_64/libtango_client_api.");
        } catch (UnsatisfiedLinkError e) {
        }
      }
      if (loadedSoId < ARCH_DEFAULT) {
        try {
          System.load(basePath + "x86/libtango_client_api.so");
          loadedSoId = ARCH_X86;
          Log.i("TangoInitializationHelper", "Success! Using x86/libtango_client_api.");
        } catch (UnsatisfiedLinkError e) {
        }
      }
      if (loadedSoId < ARCH_DEFAULT) {
        try {
          System.load(basePath + "default/libtango_client_api.so");
          loadedSoId = ARCH_DEFAULT;
          Log.i("TangoInitializationHelper", "Success! Using default/libtango_client_api.");
        } catch (UnsatisfiedLinkError e) {
        }
      }
      if (loadedSoId < ARCH_DEFAULT) {
        try {
          System.loadLibrary("tango_client_api");
          loadedSoId = ARCH_FALLBACK;
          Log.i("TangoInitializationHelper", "Falling back to libtango_client_api.so symlink.");
        } catch (UnsatisfiedLinkError e) {
        }
      }
      return loadedSoId;
    }
  }
  